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高增益PID控制器实现纳米定位

光学精密工程 2007年第1期15卷 63-68页

作者：卢礼华郭永丰大刀川博之梁迎春下河边明哈尔滨工业大学精密工程研究所黑龙江哈尔滨150001 东京工业大学精密工学研究所日本横滨2268503

建立了高增益PID闭环控制系统,在“直流伺服电机+滚珠丝杠”驱动机构上实现了大范围的纳米定位。对于“伺服电机+滚珠丝杠”驱动系统来说,摩擦是实现纳米定位精度的主要障碍,它影响着系统微动特性并导致稳态误差。针对这种驱动系统,在... 详细信息

建立了高增益PID闭环控制系统,在“直流伺服电机+滚珠丝杠”驱动机构上实现了大范围的纳米定位。对于“伺服电机+滚珠丝杠”驱动系统来说,摩擦是实现纳米定位精度的主要障碍,它影响着系统微动特性并导致稳态误差。针对这种驱动系统,在根据标定参数计算得到的线性传递函数的基础上,设计高增益不完全微分、比例反馈PID控制器,配置闭环控制系统的极点为负实轴上的多重极点,避免了摩擦力建模和补偿。实验结果表明,该高增益闭环控制系统有效地抑制了摩擦等非线性因素的影响,在系统的宏动和微动特性阶段都可以实现单步的纳米定位并取得了一致的响应,10 nm^10 mm阶跃响应的稳态误差不超过±2 nm。

关键词：滚珠丝杠 PID控制器纳米定位摩擦

Which characteristics are associated with changes in medication status for lower urinary tract symptoms among patients with prostate cancer receiving external beam radiotherapy?

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Current Urology 2024年第2期18卷 122-127页

作者： Yuki Kyoda Kohei Hashimoto Atsushi Takahashi TakeshiMaehana Kimihito tachikawa Takashi Muranaka Shuichi Kato Tomoyo Kurisug Fumimasa Fukuta Takahiro Kirisawa Manabu Okada Ko Kobayashi Toshiaki Tanaka Shiro Hinotsu Naoya Masumoria Department of Urology SapporoMedical University School of MedicineSapporoJapan Department of Urology Hakodate Goryoukaku HospitalHakodateJapan Department of Urology Muroran City General HospitalMuroranJapan Department of Urology NTT-East Sapporo HospitalSapporoJapan Department of Urology Sunagawa City Medical CenterSunagawaJapan Department of Urology Oji General HospitalTomakomaiJapan Department of Urology Steel Memorial Muroran HospitalMuroranJapan Department of Urology Obihiro Kyokai HospitalObihiroJapan Department of Medical Statistics Sapporo Medical University School of MedicineSapporoJapan

Background:We clarified the predictive factors for changes in the status ofmedications for lower urinary tract symptoms(LUTS)2 years after local radiotherapy for nonmetastatic prostate *** and methods:We retrospectively included patients who underwent local external radiotherapy for nonmetastatic prostate cancer in 8 institutions between April 2001 and March *** were divided into themedication and no-medication group based on the use of drugs for LUTS before *** defined improvement of LUTS as when the patient did not require medication for LUTS at 24 months after radiotherapy in the medication group and as deterioration whenmedication was required in the no-medication *** regression analysis was used to evaluate predictive factors for changes in medication ***:Altogether,505 patients were divided into a no-medication group(n=352)and a medication group(n=153).The number of patients with deterioration and improvement in LUTS was 49(14%)and 36(23%),*** the multivariate analysis,the predictive variables for deterioration were the International Prostate SymptomScore(≥8;odds ratio[OR],2.21;p=0.014)and the biopsy Gleason score(≤3+4=7;OR,2.430;p=0.008)in the no-medication group,whereas those for improvement were age(<75 years old;OR,5.81;p=0.002),the quality of life score(<3;OR,3.15;p=0.028),and a positive biopsy core rate(≥50%;OR,2.530;p=0.027)in the medication ***:These predictive factors for changes in the status ofmedications for LUTS at 2 years after external radiotherapymay help determine the definitive therapy for nonmetastatic prostate cancer.

关键词： Prostate cancer Radiotherapy Lower urinary tract symptoms Medications

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快速无超调纳米定位

纳米技术与精密工程 2006年第3期4卷 212-216页

作者：卢礼华梁迎春大刀川博之郭永丰下河边明哈尔滨工业大学精密工程研究所哈尔滨150001 东京工业大学精密工学研究所日本横滨2268503

对于“直流电机+滚珠丝杠”驱动机构,摩擦是实现大行程具有纳米级分辨率点位控制的主要障碍．通过设计高增益PID控制器,可以抑制摩擦的影响并在大范围内实现纳米定位,只是系统的性能受到执行机构饱和的影响．通过将时间优化的Bang-Bang... 详细信息

对于“直流电机+滚珠丝杠”驱动机构,摩擦是实现大行程具有纳米级分辨率点位控制的主要障碍．通过设计高增益PID控制器,可以抑制摩擦的影响并在大范围内实现纳米定位,只是系统的性能受到执行机构饱和的影响．通过将时间优化的Bang-Bang控制器与该PID控制器结合在一起构成变结构控制系统,使用PID闭环控制跟踪Bang-Bang控制下的理论减速轨迹,并实现最终定位,从而消除了饱和所造成的超调．实验和仿真结果显示,该系统可以在较大摩擦力和模型参数变化的情况下获得大范围无超调的纳米定位,并且响应时间最优．

关键词：纳米定位 PID控制 Bang—Bang控制摩擦

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HIV-1 tropism

Protein & Cell 2010年第6期1卷 510-513页

作者： Aikichi Iwamoto Noriaki Hosoya Ai Kawana-tachikawa Division of Infectious Diseases Advanced Clinical Research CenterInstitute of Medical ScienceThe University of TokyoTokyo 108-8639Japan International Research Center for Infectious Diseases Institute of Medical ScienceThe University of TokyoTokyo 108-8639Japan Research Center for Asian Infectious Diseases Institute of Medical ScienceThe University of TokyoTokyo 108-8639Japan

Acquired immunodeficiency syndrome(AIDS)was reported in 1981((CDC),1981).Human immunodeficiency virus type-1(HIV-1),the virus causing AIDS,was isolated in 1983(Barré-Sinoussi et al.,1983).Since AIDS patients were characterized by a profound decrease in CD4-positive T cell count(Gottlieb et al.,1981),it was a logical consequence that CD4 would be the most probable receptor for the ***,it was confirmed that CD4 is the primary receptor for HIV-1 in 1986(Maddon et al.,1986).However,it was speculated that HIV-1 requires another factor to infect a cell,since CD4 alone could not support HIV-1 infection to nonhuman cells(Weiner et al.,1991).

关键词： immunodeficiency Barr AIDS

Dental Implant Patients Grouped by the Brinkman Index: Their Attitude toward Smoking, Nicotine Dependence, and Knowledge of Peri-Implantitis

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Open Journal of Regenerative Medicine 2016年第2期5卷 55-60页

作者： Ken Yukawa Noriko tachikawa Shohei Kasugai Oral Implantology and Regenerative Dental Medicine Department of Masticatory Function Rehabilitation Tokyo Medical and Dental University Tokyo Japan

Purpose: This study investigated the attitude of patients, grouped by the Brinkman index, towards smoking by using the Kano Test for Social Nicotine Dependence (KTSND) and their knowledge of peri-implantitis. Methods: The participants were 3093 new patients who visited the Tokyo Medical and Dental University Hospital from January 2012 to December 2013 for an oral implant. The methodology included a questionnaire about sex, age, smoking status, daily average number of cigarettes, years of smoking, knowledge of peri-implantitis, and the KTSND. The patients were grouped according to their smoking status by calculating their Brinkman index (over 200 or not): current smokers with the possibility of nicotine dependence (BI(+)CS), current smokers with no possibility of nicotine dependence (BI(-)CS), ex-smokers (ES), and non-smokers (NS). The Brinkman index is obtained by multiplying one’s daily average number of cigarettes by the number of years they have been smoking. Results: Data were collected from 2182 respondents (response rate = 71%). The KTSND scores of BI(+)CS (16.89 ± 4.26) were significantly higher than the scores of ES (11.99 ± 4.52) and NS (11.53 ± 5.01). In current smokers, there were no significant differences between BI(+)CS and BI(-)CS. The patients replied “I don’t know” about peri-implantitis most often in all groups;however, there were no significant differences between the groups. Discussion: BI(+)CS were more dependent on nicotine in social situations than the other groups were. In Japan, a Brinkman index over 200 is required for a nicotine-dependence management fee to be instituted for health insurance treatment. This is a major concern for young smokers, who may be excluded from treatment because their years of smoking are substantially less. Results revealed that there were no significant differences between BI(+)CS and BI(-)CS. Therefore, it was suggested that the Brinkman index did not sufficiently group the participants.

关键词： Dental Implant Peri-Implantitis Smoking Smoking Cessation Kano Test for Social Nicotine Dependence (KTSND)

Three-Dimensional Finite Elemental Analysis of Bone Stress near an Implant Placed at the Border between Mandible and Fibular Graft in Mandibular Reconstruction

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Open Journal of Regenerative Medicine 2015年第4期4卷 35-45页

作者： Yukawa Ken tachikawa Noriko Kasugai Shohei Oral Implantology and Regenerative Dental Medicine Department of Masticatory Function Rehabilitation Tokyo Medical and Dental University Tokyo Japan

Purpose: The aim of the present study was to use finite elemental analysis (FEA) to evaluate bone stress near an implant placed at the border between the mandible and fibular graft in mandibular reconstruction. Materials and Methods: A fibular model (FM) and transplantation model (TM) were constructed for FEA. In TM, mandible was on the mesial side and the fibular graft was on the distal side. The implant was positioned at the center of both bone models. In TM, it was placed on the border between the mandible and fibular graft. A 10-mm implant was used in the monocortical model and a 15-mm implant was used in the bicortical model. The loading force was set at 100 N, the angle was set at 90°, and the loading position was set as center, mesial, or distal on the upper surface of the prosthesis. Von Mises equivalent stress values of the bone near the implant collar and apex at the middle line between buccal and lingual side were measured. Results: In all models, stress values were significantly lower with center loading than with distal loading and mesial loading. In center loading, the stress values were significantly lower in the bicortical model than in the monocortical model. There were no significant differences in stress values between FM and TM in all conditions. Conclusions: Bone stress was least with the center loading position, which was further decreased by bicortical fixation. There was no increase in mechanical stress associated with placing an implant at the border between the mandible and the fibular graft.

关键词： Finite Elemental Analysis Mandibular Reconstruction Fibular Graft Dental Implant Stress Analysis

Development of an Object-oriented Modeling System for Hydrologic Simulations

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Development of an Object-oriented Modeling System for Hydrol...

成年之年,砥砺前行爱儿美第一家会员体验店开业首席摄影创意官李茂亮相现场

中国水利学会2003学术年会

作者： Michiharu SHIIBA Yutaka ICHIKAWA Yasuto tachikawa Graduate School of Global Environmental Studies Kyoto University Graduate School of Global Environmental Studies Kyoto University Disaster Prevention Research Institute Kyoto University

＜正＞ A new hydrological modeling system is developed on the basis of the object-oriented analysis of hydrological systems. In this modeling system, hydrological systems are considered as a set of dynamic elements which communicate one another. This modeling system provides the base element model which has the common functions required in hydrological simulations, such as initialization of state variables, giving numerical values to parameter variables, setting computation time steps. This system provides the port models for data transfer between element models. The system user can easily create his own element models by using the base element model and easily build the total system model for the hydrological simulations by connecting a number of element models through the port models.

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人像摄影 2020年第10期 68-73页

作者： tachikawa 不详

8月28日,爱儿美朝阳公园店经过三重升级重装开业,2020年是爱儿美18岁的开端,也是爱儿美的“成年之年”,朝阳公园店作为爱儿美的第一家会员体验店,将给客户带来更多新鲜体验。

关键词：体验店朝阳公园砥砺前行开业会员

Long-term morphological evaluation of porous poly-DL-lactic acid for soft tissue augmentation

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Open Journal of Regenerative Medicine 2013年第4期2卷 106-111页

作者： Yukawa Ken tachikawa Noriko Munakata Motohiro Akino Norio Kasugai Shohei Department of Oral Implantology and Regenerative Dental Medicine Tokyo Medical and Dental University Tokyo Japan

Soft tissues are important for aesthetic considerations in implant therapy. The purpose of this study was to investigate soft tissue augmentation by using porous poly-DL-lactic acid (PDLLA)shaped as a tablet, with a diameter of5.0 mmand a height of2.0 mm. Porous PDLLA was implanted between the periosteal and epithelial tissues in 25 rats that were sacrificed at 1, 2, 4, 12, and 24 weeks. The average height of the PDLLA scaffolds at approximately 24 weeks was 1.85 ±0.08 mm, and the molecular weight decreased with time. Sinusoidal capillaries at 1 week, connective tissues at 4 weeks, and necrotic tissues at 24 weeks were observed more than other periods. At 24 weeks, the connective tissue surviving in the pores was confirmed to contain blood vessels;therefore, blood vessels are considered to be critical for the survival of soft tissue in scaffold pores. In this study, PDLLA was found to be useful for soft tissue augmentation in the long term. Although the molecular weight of PDLLA decreased with time, the height of the PDLLA scaffolds was preserved. The connective tissue surviving in the pores of the scaffolds at 24 weeks were associated with blood vessels. Further studies are necessary to investigate the optimal scaffold shape and surface characteristics to improve the penetration of blood vessels.

关键词： Poly-DL-Lactic Acid (PDLLA) Soft Tissue Augmentation Biodegradation Porous Scaffolds